1

Mechatronics I
Module I
Week 1

Source: PowerPoint Stock images

 Course Disclaimer 2

❑This course was developed and prepared by Dr. Maha Elnaggar

❑The course content may be subject to updates, revisions, or modifications

to reflect changes in the field, or improved pedagogical approaches.

Learning Objectives 3

✓ To introduce Mechatronics system

o Describe and analyze components of a Mechatronics system
o Design and build a robot car

A good understanding of the concepts considered in this

course is essential for intelligent use of microprocessors and
software tools that are now widely available.
 Learning Content and Assessment for Learning 4

Modules Topics (Lectures) Assessments

1 Introducing to Mechatronics Lab 1
2 Analog Circuits and Components Lab 2
3 Semiconductor Electronics Devices Lab 3, Assignment 1
4 Digital Circuits Lab 4
5 Data Acquisition Lab 5
6 Sensors Lab 6, Assignment 2
Check the 7 Midterm Written Exam Lab 7
course outline 8 Independent Study week -
for more
information 9 Signal Conditioning Lab 8, Assignment 3
10 DC motors Lab 9
11 AC motors Lab 10
12 AC-DC Servo Motors Lab 11, Assignment 4
13 Stepper motors Lab 12
14 Speed & Position Control Lab 13
15 Final Written Exam
 5
Learning Content and Assessment for Learning

Assessments Marks
Labs 15%
Midterm exam 15%
Reference books/notes acceptable for the exams will
Assignments 12%
be identified and communicated to the students at
Project 18%
Practical Exams 20%
least one week prior to the date of exam.
Final Exam 20%
Total 100
 Lab Material 6

Please access the

comprehensive list of required
materials on D2L
 Lab Content 7

✓ Tutorial on the microprocessor Teensy

✓ Tutorial on Arduino

✓ Ultrasonic Sensor

✓ Servo Motor

✓ DC Motor

✓ Robotic Car

✓ Project
 8

(Recommended)

It will be supplemented by a few handouts from other sources

References
 9

What is
Academic Integrity(AI) 10
 Explore your Values 11

1 Write down the ten things in you value the most in your life

2
Pick the three things that are the least important to you and throw away

3
Throw away two more

4
Throw away two more

5 Reflect on the following questions:

Source: https://www.sessionlab.com
✓ What do I feel about the values I ended up with?

✓ How do these values show themselves in my everyday life?

✓ What actions have I already taken to live by them?

 Academic Integrity 12

Trust

Fundamental values

Honesty Fairness

AI
✓ Do the values I selected

resonate with these AI

Respect Responsibility
values?
 Academic Integrity 13

Academic Integrity Policy can be understood through the Seven Grandfathers’ teachings

https://www.lltc.edu/about-us/our-philosophy/

More information https://fleming.libguides.com/ld.php?content_id=35419200

 What is Mechatronics? 14

❑Mechatronics is the field of study concerned with the design, selection, analysis, and control

of systems that combine mechanical elements with electronic components, including

computers and/or microcontrollers

❑The word was first suggested by Japanese engineers (Yasakawa Electric Company ) in mid-

1960s as a combination of electronics and mechanics to signify electro-mechanical systems

❑Mechatronic systems can comprise of many domains such as mechanical, electrical, hydraulic,

magnetic, etc. Components from these different domains work together in a synergistic

manner along with microcomputers that control or make decision about system behavior.
Dr. Maha Elnaggar
 What is Mechatronics? 15

❑Auslander has defined Mechatronics as the application of complex decision-making to the

operation of physical systems

❑“Synergistic Combination of precision mechanical engineering, electronic control, and

intelligent software in a systems framework, used in the design of products and manufacturing

processes.”(Ashley, S. Getting a hold on mechatronics, Mechanical Engineering, ASME

Magazine, 1997)
❑Giorgio Rizzoni, professor at Ohio State University, have defined it as “the confluence of

traditional design methods with sensors and instrumentation technology, drive and actuator

technology, embedded real-time microprocessor systems, and real-time software.”

 Other Similar Definitions Found in Literature 16

❑“the design and manufacture of products and systems possessing both a mechanical

functionality and an integrated algorithmic control.”

❑“the interdisciplinary field of engineering dealing with the design of products whose function

relies on the integration of mechanical and electronic components coordinated by a control

architecture.”
All statements convey similar concepts

Could you distill everything into a straightforward

❑“Putting Intelligence onto Physical Systems.” schematic?

❑“Designing intelligent machines”

Mechatronics as an Intersection of Many Subject Areas 17
 Defining Mechatronics 18
❑Suppose that the construction of an electromechanical system design is undertaken
following the sequential operation
o The mechanical devices were designed first by mechanical engineers who then
handed the design over to the electrical engineers to add on the electrical systems.
o The electrical engineers then passed on the design to control engineers who had to
devise the control strategy.
❑Here, the multiciplinary nature of mechatronics should be obvious

❑Does the approach fit in the definition of mechatronics?

It is missing Synergy!
o This sequential approach described is also associated with very little
communication among different groups and almost no effort to make each
other’s work better by iterating the entire system design.
 Defining Mechatronics 19

✓ Synergy in the integration of:

❖ Mechanical

❖ Electrical

❖ Computer systems

❖ Information systems
Information Flow in a Mechatronic System Mechatronics 21
Typical components of a Mechatronics system 22

Drive
Circuits

Digital to
Actuators
Analog

User Controller Mechanical

Interface (PC or MCU) System

Analog to
Sensors
Digital

Signal
Conditioning

Typical components of a Mechatronics system

Dr. Maha Elnaggar
 Application Areas 29

✓ Sample applications of mechatronic systems in vehicles

Safety Comfort Power Train

Airbag system Door locks Engine controls
Anti-lock braking system Keyless entry system Fuel pump controls
Daytime running light Heating system controls Fuel sensing controls
Electronic stability controls Seat positioning controls Gearbox controls
 Some Applications 30

Cleaning robot

A flatbed scanner

Parking Gate
Machine for tooth design and production
 What will we discuss in this Module I? 31

✓ The characteristics of basic circuit components

✓ The different types of switches Perform circuit analysis using Kirchhoff’s voltage law (KVL) and Kirchhoff’s

current law (KCL)

✓ An equivalent circuit for a given two-terminal circuit Explain the concept of impedance and loading effects

✓ The RMS current and voltage in an AC circuit

✓ The components of power in an AC circuit

✓ Different op-amp circuits

✓ Grounding techniques

✓ Solenoid

✓ Relay as an interface element Dr. Maha Elnaggar

 Components 32

✓ Circuit elements include power sources, such as a power supply or a battery, switches to open
and close the circuit, and circuit components, such as resistors and capacitors

✓ Circuit components can be of the passive type, which require no external power to operate,
such as resistors and capacitors, or active components which require power to operate, such
as operational amplifiers
Symbols of Basic Circuit Elements 33
 Resistor Types 34

surface mount wire wound

thick film carbon composition

 Type of Resistors 35

Wire Wound

Increased
accuracy Metal Film Increased price
and stability

Carbon Film
Resistor Color Bands 36
 Resistor Color Bands 37

resistorcalculator
 Datasheet 38

xicon_10042017_XC-600035-1-1201685.pdf
 39
AC Power to a Resistive Load

Power delivered to
element by source
average

p p = vi

Power returned to
source by element
i
v
-
 40
Capacitance

Capacitance is the ability to store electrical charge.

Q
C=
V

Rearranging, the charge on a capacitor is found as

Q = C V

What are the Factors Affecting Capacitance?

 41
Why does the capacitor blocks D.C but not A.C?
 Basic Construction 42

✓Two conductors separated by an insulator

o Conductors are called plates
o Insulator is called the dielectric

Plates
connecting lead
Parallel-plate capacitor

dielectric

connecting lead
 Dielectric Constants 45

Material Dielectric Constant, k

Vacuum 1.00000
Air 1.00059
Bakelite 4.9
Fused Quartz 3.78
Neoprene Rubber 6.7
Oil 4.0
Paper 3.7
Polystyrene 2.56
Glass 7.5
Ceramic 1200
Teflon 2.1
Mica 5.0
 46
Schematic Symbol

Fixed Variable
 Type of Capacitors 47

Fixed Variable

Polyester Film Polypropylene

Mica

Polystyrene

Electrolytic

Ceramic
Polarized Capacitors 48

Tantalum

Electrolytic Polarized
+
 49
Voltage Rating
✓ Called breakdown or working voltage

✓ Maximum dc voltage that can be applied without damage.

✓ Breakdown voltage is determined by

o the dielectric strength of the material used

o the distance between the plates.

 Datasheet 50

CapacitorDatasheet
 Power to a Capacitive Load 51

Voltage, v Power, p
+

p = vi
Power delivered to
element by source

Power returned to
source by element

Current, i
-
 52
The Basic Inductor

Faraday’s Law of Electromagnetic Induction

A change in current causes the

magnetic field to change. This in S N
turn induces a voltage across the - +
inductor that opposes the
original change in current.

Lenz’s Law
The induced emf caused by the changing magnetic
field is always in a direction to oppose the change in
current.
 Inductance 53

• l = length.
• A = cross-sectional area.
• N = number of turns.
• m = Permeability of the core material.

N mA 2
L=
l
 Common Inductors 54

Common symbols for inductors (coils) are

Air core Iron core Ferrite core Variable

Inductors come in a variety of types and sizes.

Encapsulated Wirewound, high current Torroid coil Variable

 55
Voltage and Current Relationship

Voltage, v
Current, i

90o
 Mechanical Switches 56

Toggle Switch: specified in terms of their number of poles and throws

o Poles refer to the number of circuits that can be completed by the same switching action

o Throws refer to the number of individual contacts for each pole

 Different Configurations of Toggle Switches 57

Four different configurations of toggle switches

o SPST: Single-pole, single-throw

o SPDT: Single-pole, double-throw

o DPST: Double-pole, single-throw

o DPDT: Double-pole, Double-throw

 58
Push-Button & DPDT Switch

Push-button switch:

(a) normally open

(b) normally closed

Widely used as reset switches and doorbell switches

 Switch Bouncing 59

✓ The switch arm is typically a small flexible element

✓ The opening and closing of mechanical switches causes the switch to bounce
✓ Each of the contacts during the bouncing interval, which is typically about 15 to 25 ms
long, may be considered by a processor as separate switch action
 Wrap up 60

This Week

Lab 1: Use of Oscilloscope

(You could refer to Chapter 1 of Mechatronics System Design )

Reference: Mechatronics System Design by Devdas Shetty, Ph.D., P.E. and Richard A. Kolk
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 Enhancing Your Career
62

You should constantly educate yourselves, formally and informally, taking advantage of
all means of education

Enhancing your career involves understanding your goals, adapting to changes, anticipating
opportunities, and planning your own niche
 Enhancing Your Career
63

Perhaps there is no better way to enhance your career than join a professional society
such as the Institute of Electrical and Electronics Engineers IEEE and be an active
member

IEEE is the largest professional organization in the world. Members benefit immensely
from the numerous magazines, journals, transactions, and conference/symposium
published yearly by IEEE
 64

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